用于临场感系统的机器人电触觉反馈手套

阐述了应用于临场感灵巧机器人的新型电触觉反馈手套的设计 ,讨论了手指的灵敏度和电刺激脉冲的关系 ,电刺激脉冲的频率、占空比和幅值决定手指的灵敏度 ,分析了电极的材料、尺寸、放置位置和形状对手指灵敏度的影响 .设计了一套触觉临场感系统进行实验 ,实验表明戴有电触觉反馈手套可以控制灵巧机器人手并能识别和分类 3种物体

Robotic Electrotactile Feedback Glove for Tele Presence System

Progress is described regarding the development of a new electrotactile feedback glove designed for application to dexterous robot. The sensitivity of operator's finger against electrical stimulus pulse is considered. It is found that frequency, duty ratio, and voltage amplitude of electrical stimulus pulse determine the sensitivity of finger. The effects of materials, sizes, arrangements and shapes of electrodes on sensitivity of finger are analyzed. Finally, the tactile tele presence system is designed to experimentally confirm that the robot with electrotactile feedback glove can manipulate dexterous robotic multi fingered hand and identify and classify three sorts of objects.